universal robotics plug in fails to compile

[dan]

SInce the sim uses UR arms, I assume that we will need the ROS univeral_robots package from here

However, I was unable to get that to compile under Ubuntu 18.04 and ROS melodic. There are several errors generated by ur_moveit_plugin.cpp such as:

error: invalid initialization of reference of type ‘const boost::shared_ptr<srdf::Model>&’ from expression of type ‘const ModelSharedPtr {aka const std::shared_ptr<srdf::Model>}’
   const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();

[Shane Loretz]

Hi @dan77062,

I think this would fit better as an issue to update to melodic at the universal_robots repo. If you'd like to use those packages for MoveIt, then follow issue #144 for future updates about a MoveIt tutorial.

[Shane Loretz]

The ARIAC 2019 MoveIt tutorial has a link to a fork of the universal robotics packages that works with the two arms.

[Shane Loretz]

Forked univeral robotics packages for ARIAC 2019

[dan]

yes, using this link from the wiki, instead of the standard melodic package for universal_robots works: git clone https://github.com/osrf/universal_robot -b ariac_2019_ur10_moveit_config

Thanks!